CN205479978U - Based on pneumatic tendon pneumatic pipe robot system - Google Patents
Based on pneumatic tendon pneumatic pipe robot system Download PDFInfo
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- CN205479978U CN205479978U CN201620185635.8U CN201620185635U CN205479978U CN 205479978 U CN205479978 U CN 205479978U CN 201620185635 U CN201620185635 U CN 201620185635U CN 205479978 U CN205479978 U CN 205479978U
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- pipe robot
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Abstract
The utility model provides a based on pneumatic tendon pneumatic pipe robot system, its including the support module that connects gradually no. 1, flexible module, support module no. 2, should flexible module adopt pneumatic tendon. The utility model discloses based on pneumatic tendon pneumatic pipe robot system adopts external air supply based on bionics wriggling mode, and pneumatic element design's reliable and simple pneumatic pipe robot, simple structure, easy operation, the crooked pipeline of accessible are utilized to the peristaltic form of multisection to corresponding operation mechanism is mixed and work such as pipeline monitoring maintenance can be realized. The utility model discloses based on pneumatic tendon pneumatic pipe robot system power is big, and dynamic characteristic is good, and the good seal is applicable to various pipeline environment.
Description
[technical field]
This utility model relates to mechanical field, the robot used in being specifically related to a kind of pipeline.
[background technology]
In municipal sewage, natural gas conveying, industrial material transport, plumbing and constructure ventilation system etc.
In field, pipeline is extensively applied as one effective material transportation means.Pipeline is in long-term use
In can rupture unavoidably, block, contamination, for improving the life-span of pipeline, preventing the generation of the accidents such as leakage,
It is necessary for pipeline is effectively detected maintenance etc., but the detection of pipeline, clears up, safeguard and be not
Easily, often substantial amounts of man power and material is spent for a crackle finding on pipeline.And it is current
Pipe detection and maintenance many employings pipe robot are carried out.So-called pipe robot is exactly that one can be along pipe
Road is the most automatically walked, carries one or more senser elements such as position and attitude transducer, is surpassed
Sonic transducer, eddy current sensor etc. and operation machinery such as pipeline crack and pipe joint welder, prevent
Rotten spray equipment, manipulator, spray gun, brush etc., remote operation or computer staff control
Under can be in extremely rugged environment, it is possible to complete the electromechanical integration of a series of pipe detection maintenance activity
System.The achievable pipeline operations of pipe robot has: quality inside and outside the pipeline in production, work progress
Detection；Pipe interior cleans, polishes, welds, spraying etc. is safeguarded；The flaw detection of butt weld, repaired mouth are made
Industry；The detection of old corrosive pipeline degree, breakage and leakage forecast etc..
The driving source of the pipe robot of prior art substantially has following several: micromachine, Piezoelectric Driving,
Marmem (SMA), pneumatic actuation, magnetostriction driving, electromagnetic conversion driving etc..
Divide according to power source mainly have utilize conduit fluid pressure drive, self-driven, manage additional thrust
Robot.Utilize the pipe robot that conduit fluid pressure drives, as it is shown in figure 1, this robot is divided into
More piece, utilizes the rubber ring (leather cup) with seal for pipe joints, is equivalent to piston, at oil transportation overpressure oil
Under effect, measuring robots is promoted to walk forward, mainly by probe 101, high-pressure sealing ring 102, motor
Storehouse 103, battery compartment 104, instrument bin 105, instrument bin 106, universal joint 107, mileage storehouse 108, pigging
Device 109 and leather cup 110 form, and rely on the pressure differential of tube fluid to produce driving force, along with tube fluid
Flow direction moves forward, and portability multiple sensors, but this pipe robot self is not walked
Ability, its translational speed, detection region wayward.
Self-driven type of conduits robot includes wheeled, foot formula, creeping-type, creeping motion type, also includes carrying out
Belt etc., as in figure 2 it is shown, the wheeled movable robot in pipe of prior art, anterior with a miniature CCD
Video camera, can differentiate foreign object in pipe and realize cleaning with micromanipulator, and sebific duct couples can cross bend pipe, suitable
Answer caliber: φ 25mm；The speed of travel: 0.36m/min；Deadweight: 16g.This robot uses many wheels
Drive-type is in order to increase pull strength, and owing to the wheel footpath of driving wheel 201 is the least, obstacle climbing ability is limited, and
Structure is complicated.Fig. 3 show foot and declines pipe robot, can be moved by leg 301 in pipeline, its
Ultimate principle is to utilize leg to push pipe to support individuality, but the pipe robot weight capacity of the type has
Limit, structure is complex, malfunction.Fig. 4 show small-sized creeping motion robot system, by wriggling
Body 401 and electrostriction shifter 402,403,404 composition, the creeping deformation form of creepage body is by pasting
Resistance-strain in flexible hinge position senses in real time, and the overall dimensions of robot is
150 × 61 × 46mm, weight 2Kg, maximum step pitch 10 μm, stroke 40mm, kinematic accuracy 0.2 μm,
The deadweight of this pipe robot is the heaviest, and step pitch is the least, malfunction, it is difficult to adapt to different structure and chi
Very little pipeline.
Manage the robot of additional thrust as it is shown in figure 5, the microrobot of " spiral principle ", utilize
Motor 501 outside pipeline promotes the promotion driver part 503 with elastica 502 to advance, and front end is provided with
Ccd video camera 504, the type pipe robot structure is complex, malfunction, it is difficult to adapt to
Different structure and the pipeline of size, additional thrust makes robot range limited, and by power source
Restriction.
Therefore it provides one freely can be walked in pipeline, there is certain bearing capacity, structure
Simply, maneuverable pipe robot is the most necessary.
[summary of the invention]
The purpose of this utility model is to provide one freely can walk in pipeline, has certain
Bearing capacity, simple in construction based on pneumatic muscle Pneumatic pipe robot system.
For realizing this utility model purpose, it is provided that techniques below scheme:
This utility model provides a kind of based on pneumatic muscle Pneumatic pipe robot system, and it includes connecting successively
The support module one connect, flexible module, support module two, this flexible module uses pneumatic muscle.
Pneumatic muscle bionic muscle, is mainly made up of the lactoprene cylinder barrel of hollow, and pneumatic muscle is by one
Pinch system and adapter composition, this pinch system is by one section of caulking gum wrapped up by high strength fibre
Pipe forms, and fiber defines a three-dimensional diamond-mesh structure, when when being full of in air in pneumatic muscle
When there is pressure in portion, pipeline is just expanded on sphere direction, and its diameter increases, and therefore contraction in length produces
Tensile force and the longitudinal contractile motion of tendon, form the elastic movement of a kind of smoothness.Tensile force is shrinking
Maximum during beginning, and reduction linearly proportional with stroke.The used impulse stroke of pneumatic muscle
Up to the 25% of its nominal length.Pneumatic muscle is primarily used to single-acting cylinder and air spring uses.Gas
The utilization of dynamic tendon not only makes motion sequence fortune closer to human body in terms of kinesiology, speed and intensity
Dynamic, also it is such in terms of sensitivity.Pneumatic muscle is sturdy and durable, the gas of its force ratio same size
Big 10 times of cylinder, also can use under the extreme condition of many dust or sandstone.Pneumatic muscle speed is fast, accelerates
Performance is good.This utility model design based on pneumatic muscle Pneumatic pipe robot system derive from Lumbricus,
The action of creeping of Hirudo, i.e. advances by wriggling mode.Robot uses external gas source, and more piece is wriggled
Form, based on bionics wriggling mode, utilize that pneumatic element designs is simple based on pneumatic muscle
Pneumatic pipe robot system, simple in construction, movement velocity is fast, performance good, easily operates, can be by curved
Curved tube road, and mix corresponding Working mechanism and can realize the work such as Monitoring Pinpelines maintenance.
Pneumatic muscle power and load relationship: the nominal length of pneumatic muscle is in no pressure, non-loaded feelings
Condition is undefined.It is equivalent to the length of visible part tendon between interface, when pneumatic muscle is by external force
During effect prestretched, it is just elongated；On the other hand, when pressed, tendon shrinks, and its length subtracts
Little.
Pneumatic muscle is generally as single-acting driver: in simple cases, and pneumatic muscle is used as nonoculture
By driver, load constant, it is assumed that in pneumatic muscle, this load exists always, there is no the situation of pressure
Under, tendon will be stretched a segment length from initial condition, and this is the one considering pneumatic muscle technical characteristic
Ideal operation state；When pressurized, pneumatic muscle has the power output of maximum with optimal under pretensioned state
Dynamic property, and air consumption is minimum, and in this case, available power is the most maximum.If requiring gas
Dynamic tendon, first will utilize plus the active force for promoting load without active force when expansion state
Its motion carrys out the element that migration power is little.
Preferably, this flexible module is connected by oscillating bearing between module one, support module two with supporting.
Preferably, this oscillating bearing is spherical bearing.Spherical pair in spherical bearing makes two supporting dies
Block can be with one space angle θ of moving relative to flexible module, and therefore robot has possessed the most curved energy
Power.
Preferably, this support module one, support module two include supporting cylinder, directive wheel respectively.
Preferably, this support cylinder end is provided with a bracer.Prop up bracer by support air cylinder driven to prop up
Support the most firm.The structure of this support module can adjust different length as required, to adapt to difference
The pipeline of internal diameter.
Preferably, this bracer is arc key.The support of arc key is more fitted pipeline, is adapted to various
Tube wall situation.
Preferably, this support module one, support module two are respectively equipped with two and support cylinders and four guiding
Wheel.
Preferably, this support module one, support module two are respectively equipped with two arranged in cross form
Support cylinder and two directive wheels.
Preferably, this support module one, support module two are respectively equipped with arranged in bikini structure
Support cylinder and two directive wheels.This structure can avoid the directive wheel displacement that overload is caused.
Contrast prior art, this utility model has the advantage that
This utility model design based on pneumatic muscle Pneumatic pipe robot system derives from Lumbricus, Hirudo
Action of creeping, based on bionics wriggling mode, i.e. advance by wriggling mode.Outside robot uses
Connecing source of the gas, robot body's part can preferably adapt to the environment of humidity.The form that more piece is wriggled, main
Body portion uses three stage structure, oscillating bearing couple and form, wriggle and realized the function of curved pipe,
Utilize the simple Pneumatic pipe robot that pneumatic element designs, simple in construction, easily operate, can pass through
Crooked pipeline, and mix corresponding Working mechanism and can realize the work such as Monitoring Pinpelines maintenance.Pneumatic muscle
Itself can realize reciprocal linear motion, simplifies mechanism.Our robot can in pipeline certainly
Walked by ground, there is certain bearing capacity, the carrier of pipe detection, cleaning equipment can be become, make
The detection of pipeline, the work such as cleaning is easily achieved.Should be based on pneumatic muscle Pneumatic pipe robot system
Supporting die block structure can adjust different length as required, to adapt to the pipeline of different inner diameters.
Employing pneumatic muscle is as flexible module, and pneumatic muscle has a lot of advantage: (1) power is relatively big,
Bigger than traditional cylinder of same cylinder diameter 10 times of starting force so that robot has the ability undertaking a fixed load,
The regulation of power size can be realized by regulation air pressure；(2) even if under case of heavy load, dynamic characteristic
Good；(3) without mechanically moving parts；(4) also without beating and creeping phenomenon when moving slowly at；(5) without
Use displacement transducer；(6) good seal, separates air and surrounding air in driver；(7) it is suitable for
In full dust and the environment of soiled；(8) firm in structure.
[accompanying drawing explanation]
Fig. 1 is the structural representation that prior art utilizes the pipe robot of tube fluid pressure；
Fig. 2 is the structural representation of the wheeled self-driven pipe robot of prior art；
Fig. 3 is the structural representation of the self-driven pipe robot of prior art foot formula；
Fig. 4 is the structural representation of the pipe robot of prior art creepage body structure；
Fig. 5 is the structural representation of the pipe robot of prior art pipeline outside force；
Fig. 6 is this utility model structure based on pneumatic muscle Pneumatic pipe robot system embodiment one
Schematic diagram；
Fig. 7 is this utility model structure based on pneumatic muscle Pneumatic pipe robot system embodiment two
Schematic diagram；
Fig. 8 is that this utility model supports the cross of module based on pneumatic muscle Pneumatic pipe robot system
Form structure schematic diagram；
Fig. 9 is that this utility model supports 3 points of module based on pneumatic muscle Pneumatic pipe robot system
Formula structural representation；
Figure 10 is this utility model structure based on pneumatic muscle Pneumatic pipe robot system embodiment three
Front view；
Figure 11 is this utility model solid based on pneumatic muscle Pneumatic pipe robot system embodiment three
View；
Figure 12 is this utility model side based on pneumatic muscle Pneumatic pipe robot system embodiment three
View；
Figure 13 is that this utility model is illustrated based on pneumatic muscle Pneumatic pipe robot system motion principle
Figure.
[detailed description of the invention]
Referring to Fig. 6, this utility model includes connecting successively based on pneumatic muscle Pneumatic pipe robot system
The support module one connect, flexible module, support module two, this flexible module uses pneumatic muscle 605,
This flexible module is connected by oscillating bearing between module one, support module two with supporting, this oscillating bearing
For spherical bearing 604.Spherical pair in spherical bearing make two support modules can relative to flexible module
With one space angle θ of moving, therefore robot has possessed the most curved ability.
In the present embodiment, this support module one, support module two are respectively equipped with two and support cylinder 602 and
Four directive wheels 601, before and after these four directive wheels 601 are distributed in support cylinder 602 two-by-two, before making driving
Move when entering more steady.This support cylinder 602 end is provided with a bracer 603.Prop up by supporting air cylinder driven
Bracer supports the most firm.
Referring to Fig. 7, embodiment two this support cylinder end unlike embodiment one arranges arc key
701.The support of arc key is more fitted pipeline, is adapted to various tube wall situation.
Referring to Fig. 8 and 9, this support module one, the cylinder supporting setting in module two and directive wheel are permissible
There is numerous embodiments, Fig. 8 is respectively equipped with in support module one, support module two and sets in cross form
Two the support cylinders 602 put and two directive wheels 601.This support module one, support module two in Fig. 9
Being respectively equipped with the support cylinder 602 and two directive wheels 601 arranged in bikini structure, this structure can
With the directive wheel displacement avoiding overload to be caused.
Refer to Figure 10～12, embodiment three include depending on based on pneumatic muscle Pneumatic pipe robot system
The support module one of secondary connection, flexible module, support module two, this flexible module uses pneumatic muscle 801,
Its two ends respectively by adaptor 812, tendon connector 811, oscillating bearing 807 and support module one,
Supporting module two to connect, this support module one, support module two all include gripper shoe 804, are arranged on and prop up
Support cylinder 802 on fagging, directive wheel 803, this gripper shoe 804 is provided with bearing race snap 808, uses
Being connected in installing with described oscillating bearing 807, this oscillating bearing is spherical bearing.
This gripper shoe 804 is set square, as it can be seen, support plate 804 is provided with mounting groove, is respectively mounted
There are two to support cylinder 802 and a guide wheel bracket 806, guide wheel bracket is installed described directive wheel
803.This support cylinder 802 end is provided with arc key 805.
Reversal valve installing plate 809, controller installing plate 813 it is also equipped with on the mounting groove of this support plate 804.
Reversal valve 810 is installed on reversal valve installing plate 809, this controller installing plate 813 is installed controller 814,
To control the operation of this Pneumatic pipe robot.
Refer to Figure 13, as a example by embodiment two, illustrate that this utility model is based on pneumatic muscle Pneumatic pipe machine
Device people's System Working Principle.
Work process that robot creeps backward (incorporated by reference to refering in Figure 12 shown in a～f):
A, original state, two groups of support cylinders front and back are in the state of stretching out (holding state), pneumatic
Tendon shrinks, and robot stops in the duct by the effect supporting the arc key tentacle frictional force on cylinder；
B, the support cylinder of upper support module one shrink, and support module one against the directive wheel in module
Support front part；
Expand after the inflation of c, pneumatic muscle, support module one and move down an active strokes, robot
Move downward along inner-walls of duct；
D, the support cylinder of support module one strut, and the effect of arc key frictional force makes support module one solid
Due to pipeline；
E, the support cylinder of support module two shrink, and support module two and support against the directive wheel in module
Rear portion；
F, pneumatic muscle are shunk, and support module two and move down active strokes, simultaneously a Robot
Inner-walls of duct moves downward；After this step, the recovering state of robot is to a state, repeats above moving
Making, robot constantly moves down.
The work process that robot creeps forward is contrary with the above-mentioned work process creeped backward:
1, original state, two groups of cylinders front and back are in the state of stretching out (holding state), pneumatic muscle
Shrinking, robot stops in the duct by the effect of arc key tentacle frictional force on cylinder；
2, the support cylinder supporting module two shrinks, and supports module two and supports against the directive wheel in module
Rear portion；
3, expand after pneumatic muscle inflation, support module two and move up an active strokes, robot
Move upward along inner-walls of duct；
4, the support cylinder supporting module two struts；
5, the support cylinder supporting module one shrinks, and supports module one and supports against the directive wheel in module
Front part；
6, pneumatic muscle is shunk, and supports module one and moves up active strokes, simultaneously a Robot
Inner-walls of duct moves upward；After 6th step, the recovering state of robot is to 1, repeats above action, machine
Device people constantly move up.
The foregoing is only preferred embodiment of the present utility model, protection domain of the present utility model not office
Be limited to this, any based on the equivalent transformation in technical solutions of the utility model belong to this utility model protection
Within the scope of.
Claims (8)
1. one kind based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that
It includes the support module one being sequentially connected with, flexible module, supports module two, and this flexible module uses pneumatic muscle, this flexible module to be connected by oscillating bearing between module one, support module two with supporting.
2. as claimed in claim 1 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this oscillating bearing is spherical bearing.
3. as claimed in claim 1 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this support module one, support module two include supporting cylinder, directive wheel respectively.
4. as claimed in claim 3 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this support cylinder end is provided with a bracer.
5. as claimed in claim 4 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this bracer is arc key.
6. as claimed in claim 1 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this support module one, support module two are respectively equipped with two and support cylinders and four directive wheels.
7. as claimed in claim 1 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this support module one, support module two are respectively equipped with two the support cylinders and two directive wheels arranged in cross form.
8. as claimed in claim 1 based on pneumatic muscle Pneumatic pipe robot system, it is characterised in that this support module one, support module two are respectively equipped with the support cylinder and two directive wheels arranged in bikini structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620185635.8U CN205479978U (en) | 2016-03-10 | 2016-03-10 | Based on pneumatic tendon pneumatic pipe robot system |
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| CN201620185635.8U CN205479978U (en) | 2016-03-10 | 2016-03-10 | Based on pneumatic tendon pneumatic pipe robot system |
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| CN201620185635.8U Expired - Fee Related CN205479978U (en) | 2016-03-10 | 2016-03-10 | Based on pneumatic tendon pneumatic pipe robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105757398A (en) * | 2016-03-10 | 2016-07-13 | 深圳职业技术学院 | Pneumatic pipeline robot system based on pneumatic tendon |
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2016
- 2016-03-10 CN CN201620185635.8U patent/CN205479978U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105757398A (en) * | 2016-03-10 | 2016-07-13 | 深圳职业技术学院 | Pneumatic pipeline robot system based on pneumatic tendon |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170310 |